#ifndef SELF_LOCALIZATION_TRANSFORM_TRANSFROMER_H
#define SELF_LOCALIZATION_TRANSFORM_TRANSFROMER_H

#include <ros/ros.h>
#include <geometry_msgs/TwistStamped.h>
#include <sensor_msgs/NavSatFix.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Float64MultiArray.h>
#include <sensor_msgs/Imu.h>

#include "self_localization_transform/usv_self.h"
#include "self_localization_transform/v_enu.h"
#include "self_localization_transform/ori_rpy.h"


#include <glog/logging.h>
#include <Eigen/Dense>



class Transformer{
public:
    Transformer(ros::NodeHandle& nh_);
    void msg_callback(const std_msgs::Float64MultiArrayConstPtr& msg_in);




private:
    ros::NodeHandle nh;
    ros::Subscriber sub_usv_sensor;
    ros::Publisher  pub_transformed_data;
};


#endif